Did the Romans have some kind of contact with the people living in Arabia at the time? How were their relations? What did they know about their culture or politics?
When you say “Romans” what time period are you talking about and where? The Romans by the 6th century were maintaining Arab client tribal confederations. So some Romans were intimately and personally familiar with the goings on Arabia.
But I suspect that might not be what you mean.
Hey man totally super late here but here’s a great fact. I’m listening to the Aeneid now on audible and Virgil says through a fortelling that Rome and Augustus’ successors will conqueror the lands beyond India. So by this, imagining a young Roman knew nothing of the lands other than those immediately surrounding the empire now knew what India was and it was a place which was far away.